Hi Ira,I have built my segway as per your specifications for my school project but I'm having trouble with getting it to balance and the engine running at 100% as per the known fault below: "For those who are experiencing some MPU6050 issues (weird behavior.....motor that suddenly goes to 100%.....) i suggest this : Go to the library file MPU6050_6Axis_MotionApps20.h find the line 0x02, 0x16, 0x02, 0x00, 0x01 // D_0_22 inv_set_fifo_rate Modify the last number (0x01) to something higher, i'm using 0x02 right now and it works fine."I have tried implementing the code above and changing the recommended value all the way up to (0x20). but this had no effect.Are you able to offer some help and advice pleaseregards Jacob